Self-balancing robot

ABSTRACT

Technology is provided for a self-balancing robot that transitions from a three-wheeled mode to a two-wheeled self-balancing mode. The robot includes a body and a pair of drive wheels located at a first end portion of the body. Each drive wheel is coupled to a drive assembly operative to propel the robot along a surface. A third wheel is located on the body at a second end portion opposite the first end portion. A main arm is coupled to the body, wherein the main arm is rotatable to confront the surface and lift the third wheel away from the surface, thereby standing the body up onto the pair of drive wheels in preparation for self-balancing.

TECHNICAL FIELD

This patent application is directed to self-balancing robots and, morespecifically, to a self-balancing robot that transitions between athree-wheeled mode and a two-wheeled, self-balancing mode.

BACKGROUND

Conventional mobile robots are typically supported on two, three, fouror more wheels. The two-wheeled, self-balancing robots have theadvantage that they can be tall with a relatively small footprint;however, they can have limitations with respect to load carryingcapacity. On the other hand, the three- and four-wheeled robots are morestable and can have higher load carrying capacity, but less height.Accordingly, there is a need for a robot that has both the height of aself-balancing, two-wheeled robot and the load carrying capacity of athree- or four-wheeled robot.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the self-balancing robot introduced herein may be betterunderstood by referring to the following Detailed Description inconjunction with the accompanying drawings, in which like referencenumerals indicate identical or functionally similar elements:

FIG. 1 is an isometric view of a self-balancing robot according to arepresentative embodiment.

FIG. 2 is a partial isometric view of the robot shown in FIG. 1 withvarious components hidden to show the robot drive assemblies.

FIG. 3 is an isometric view of the robot shown in FIGS. 1 and 2 asviewed from the side illustrating a main robot arm in a loweredposition.

FIG. 4 is an isometric view of the robot shown in FIGS. 1-3 illustratingthe main robot arm in a lifted position.

FIG. 5 is a partial isometric view of the robot as viewed from the rearwith various components hidden to show the arm drive mechanism.

FIG. 6 is a partial isometric view of the robot as viewed from the frontwith various components hidden to show a forearm drive mechanism.

FIG. 7 is an isometric view of the robot as viewed from the side withvarious components hidden to show the forearm drive mechanism.

FIG. 8 is a partial isometric view of the forearm attached to the mainarm, and a head unit of the robot attached to the forearm.

FIG. 9 is an enlarged partial isometric view of the robot as viewed fromthe front with various components hidden to show a torque limitingclutch.

FIG. 10 is an isometric view of the torque limiting clutch according toa representative embodiment.

FIG. 11 is an isometric view of the torque limiting clutch shown in FIG.10.

FIG. 12 is an isometric, cross-section view of the torque limitingclutch taken substantially along lines 12-12 of FIG. 11.

FIG. 13 is an exploded isometric view of the torque limiting clutchshown in FIGS. 10-12.

FIG. 14 is an isometric view of a hub of the torque limiting clutch ofFIG. 10.

FIG. 15 is a partial isometric view of the robot of FIG. 1 with variouscomponents hidden to show the robot's air flow cooling system.

FIG. 16 is an isometric view of the head unit of FIG. 8.

FIG. 17 is a partial isometric view of the robot as viewed from thefront with various components hidden to show a drive assembly withexhaust fan ducting.

FIG. 18 is a partial cross-section view of the drive assemblyillustrating the air flow through the exhaust fan ducting.

The headings provided herein are for convenience only and do notnecessarily affect the scope or meaning of the claimed embodiments.Further, the drawings have not necessarily been drawn to scale. Forexample, the dimensions of some of the elements in the figures may beexpanded or reduced to help improve the understanding of theembodiments. Moreover, while the disclosed technology is amenable tovarious modifications and alternative forms, specific embodiments havebeen shown by way of example in the drawings and are described in detailbelow. The intention, however, is not to limit the embodimentsdescribed. On the contrary, the embodiments are intended to cover allmodifications, equivalents, and alternatives falling within the scope ofthe embodiments as defined by the appended claims.

DETAILED DESCRIPTION Overview

A self-balancing robot that transitions between a three-wheeled mode anda two-wheeled self-balancing mode is disclosed. The robot includes abody and a pair of drive wheels located at a first end portion of thebody. Each drive wheel is coupled to a drive assembly operative topropel the robot along a surface. A third support wheel is located onthe body at a second end portion opposite the first end portion. A mainarm is coupled to the body, wherein the main arm is rotatable toconfront the surface and to rotate the body relative to the drive wheelsbetween a lowered position and a raised position, thereby lifting thethird wheel away from the surface, and standing the body up onto thepair of drive wheels in preparation for self-balancing.

In some embodiments, the robot includes a torque limiting clutch for usewith the main arm. In the event that the robot encounters anotherobject, it is desirable that the arm only resist movement up to acertain torque limit against the motors. Such torque limiting can helpprevent damage to the robot. The torque limiting clutch includes a hubincluding a hub flange with a clamp plate slideably mounted on the hub.A drive member is rotatably mounted on the hub between the hub flangeand the clamp plate. The drive member includes a plurality of gear teethdisposed around an annular clutch disc. A first friction disc ispositioned between the hub flange and the annular clutch disc, and asecond friction disc is positioned between the clamp plate and theannular clutch disc. A plurality of clamp fasteners extend through thehub flange and engage the clamp plate to exert a clamping forceoperative to urge the clamp plate toward the hub flange, therebypressing the friction discs against the annular clutch disc in order totransfer torque between the gear teeth and the hub.

In some embodiments, the robot includes an air flow cooling system. Therobot includes a head unit coupled to the main arm, which is connectedto the body, and a robot controller is in the body. A pair of axlehousings extend from the body, wherein each axle housing contains adrive assembly coupled to the robot controller. A plurality of intakefans are disposed in the body and are configured to draw air into thebody, thereby pressurizing the body, axle housings, and head unit. Anaxle fan is disposed in at least one of the pair of axle housings and isconfigured to exhaust air from the axle housings.

General Description

Various examples of the devices introduced above will now be describedin further detail. The following description provides specific detailsfor a thorough understanding and enabling description of these examples.One skilled in the relevant art will understand, however, that thetechniques discussed herein may be practiced without many of thesedetails. Likewise, one skilled in the relevant art will also understandthat the technology can include many other features not described indetail herein. Additionally, some well-known structures or functions maynot be shown or described in detail below so as to avoid unnecessarilyobscuring the relevant description.

The terminology used below is to be interpreted in its broadestreasonable manner, even though it is being used in conjunction with adetailed description of some specific examples of the embodiments.Indeed, some terms may even be emphasized below; however, anyterminology intended to be interpreted in any restricted manner will beovertly and specifically defined as such in this section.

As shown in FIG. 1, an embodiment provides a robot 100 with a body 102and a pair of drive wheels 104 located at a first end portion 106 of thebody 102. Each drive wheel 104 is coupled to a drive assembly 108operative to rotate the drive wheels, thereby propelling the robot 100along the ground, floor, or other support surface. Although theembodiments are described with respect to drive wheels, alternativeground-engaging drivers can be used. For example, in some embodiments,endless tread, such as tracks could be used in lieu of the drive wheels104. Each drive assembly 108 is positioned within an axle housing 126that extends from the body 102. A support member in the form of a thirdwheel 110 is located on the body 102 at a second end portion 112opposite the first end portion 106. In some embodiments, the third wheelis a caster wheel. The robot 100 has a main arm 114 with a proximal endportion 116 rotatably coupled to the body 102 adjacent to the second endportion. A distal end portion 118 of main arm 114 is rotatably coupledto a forearm 120 that supports a head unit 122. In the illustratedembodiment, the head unit 122 can include a display screen 132, a camera130, and microphones 133. The robot 100 also includes a speaker 128. Thecamera 130 and microphones 133 receive input in the form of video andsound. The display screen 132 and speaker 128 provide visual and audibleoutput to a user interacting with robot 100. In some embodiments, thebody 102 can be configured with a storage region or a cargo support tocarry items when the robot is in a three-wheeled mode.

As shown in FIG. 2, each drive assembly 108 includes a drive motor 136coupled to a corresponding drive wheel 104 by a flexible coupling 138.The flexible coupling 138 and drive motor 136 are supported in a bearingblock 140. Bearing block 140 is attached to a cross member 142 extendingtransversely from body 102 (see FIG. 1). A robot controller 146 isdisposed in speaker housing 144 and is operative to control the driveassemblies 108 such that the body 102 can self-balance on the pair ofdrive wheels 104. The controller 146 balances the robot using aconventional dynamic stabilization system with a gyroscope based sensorsystem. A battery 147 or other suitable power source is located in thebody 102 to power the robot controller, sensors, drive motors, and/orother components. Robot 100 also includes forward and aft lightdetection and ranging (LIDAR) sensors 134 and 135, respectively. Therobot controller 146 receives input from the LIDAR sensors in order tonavigate the robot.

As illustrated in FIGS. 3 and 4, the main arm 114 is coupled to the body102 such that when the main arm 114 is rotated to confront a surface,the caster wheel 110 is lifted away from the surface, thereby standingthe body 102 up onto the pair of drive wheels 104 (the forearm 120 andhead unit 122 are hidden in FIGS. 3 and 4 so as not to obscure thefunction of main arm 114). As the main arm 114 is rotated to confrontthe surface, the forearm 120 is rotated to maintain the head unit 122 inposition above the body 102. In some embodiments, main arm 114 includesan idler wheel 124 to confront the surface. The main arm 114 lifts thebody 102 from a lowered position (FIG. 3) up onto the pair of drivewheels 104 to a raised position (FIG. 4) in order to facilitate thetransition from a three-wheeled mode to a two-wheeled self-balancingmode. Conversely, the main arm 114 is operative to lower the body 102from the raised position to the lowered position when the robottransitions from the two-wheeled self-balancing mode to thethree-wheeled mode. Once the body 102 is in the raised position aconventional dynamic stabilization system activates to balance the roboton the pair of drive wheels 104. Once the robot is balanced on the drivewheels the main arm 114 and the forearm 120 rotate back to a verticallyextended configuration so that the head unit 122 is at its tallestposition.

As shown in FIG. 5, the main arm 114 includes an arm drive mechanism 150operative to rotate the main arm 114 relative to the body 102. The armdrive mechanism 150 includes an arm drive motor 152 coupled to a torquelimiting clutch 156 via flexible coupling 154. The torque limitingclutch 156 transfers torque from the arm drive motor 152 to rotate anarm drive pulley 158 and corresponding arm drive belt 160. In someembodiments, arm drive pulley 158 is a timing sprocket, and arm drivebelt 160 is a timing belt. The arm drive belt 160 rotates an arm pulley162 attached to the arm 114. As the arm pulley 162 is rotated back andforth, the main arm 114 rotates back and forth. In some embodiments, thearm drive mechanism 150 can include a belt tensioner assembly 161.

With reference to FIG. 6, the forearm 120 rotates with respect to themain arm 114. The forearm 120 moves relative to main arm 114 by aforearm drive mechanism 170 disposed in the body 102 (see FIG. 1). Theforearm drive mechanism 170 includes a forearm motor 172 coupled to atorque limiting clutch 156 via flexible coupling 174. The torquelimiting clutch 156 transfers torque from forearm motor 172 to rotate aforearm drive pulley 178 and corresponding forearm drive belt 180. Theforearm drive belt 180 rotates forearm pulley 182 which is in turnconnected to forearm shaft 184. In some embodiments, the forearm drivemechanism 170 includes a belt tensioner assembly 181.

With further reference to FIG. 7, the forearm shaft 184 extends throughthe arm pulley 162 and connects to a second forearm drive pulley 185located within main arm 114 (see FIG. 6). The second forearm drivepulley 185 drives second forearm drive belt 186 which rotates secondforearm pulley 188 and second forearm shaft 190. The forearm 120 ismounted on second forearm shaft 190. Accordingly, as the second forearmshaft 190 rotates, the forearm 120 rotates. In some embodiments, theforearm drive mechanism 170 (see FIG. 6) includes a second belttensioner assembly 187 to tension the second forearm drive belt 186.

As shown in FIG. 8, the forearm 120 extends along a longitudinal axis Aand supports head unit 122. The forearm 120 includes a head unit drivemechanism 191 connected to the forearm shaft 125 and is operative torotate the forearm shaft 125 and the head unit 122 about thelongitudinal axis A. The head unit drive mechanism 191 includes a servo192 that drives pulley 196 attached to the forearm shaft 125 via servobelt 194. In some embodiments, the forearm shaft 125 can be telescopingto provide additional height range.

As disclosed above, the arm drive mechanism 150 and the forearm drivemechanism 170 each include a torque limiting clutch 156 to limit theamount of torque transmitted to the main arm and forearm. In the eventthat the robot encounters a solid object, it is desirable that the mainarm and forearm only resist movement up to a certain torque limitagainst their corresponding motors. Such torque limiting can helpprevents excess stress or damage to the robot during operation. As thearm drive mechanism and forearm drive mechanism are similar, the torquelimiting clutch 156 is described with respect to the forearm drivemechanism 170, shown in FIG. 9, and the description of clutch 156therefore equally applies to the arm drive mechanism 150. The forearmmotor 172 is connected to the torque limiting clutch 156 through spurgear 175. The torque limiting clutch 156 in turn transmits a limitedamount of torque to the forearm drive pulley 178.

As shown in FIGS. 10 and 11, the torque limiting clutch 156 includes adrive member 200 disposed between a hub 202 and a clamp plate 204. Thedrive member 200, the hub 202, and the clamp plate 204 are clampedtogether by a plurality of clamping fasteners 206. In some embodiments,the clamping fasteners 206 are hex cap screws that thread into the clampplate 204. In some embodiments, the clamping fasteners 206 are retainedin position by a suitable nut 208.

As shown in FIGS. 12 and 13, the hub 202 includes a hub flange 216. Theclamp plate 204 is slideably mounted on the hub 202 opposite the hubflange 216. The drive member 200 is rotatably mounted on the hub 202between the hub flange 216 and the clamp plate 204. The drive member 200includes a plurality of gear teeth 210 (shown schematically) disposedaround an annular clutch disc 212.

A first friction disc 214 is positioned between the hub flange 216 andthe annular clutch disc 212. A second friction disc 215 is positionedbetween the clamp plate 204 and the annular clutch disc 212. A springelement 218 is positioned between the hub flange 216 and each clampfastener 206. The spring elements 218 exert a clamping force operativeto urge the clamp plate 204 toward the hub flange 216. Accordingly, thefriction discs 214 and 215 are pressed against the annular clutch disc212 in order to transfer torque between the gear teeth 210 and the hub202. Hub 202 includes a bore 222 to receive a shaft (not shown). The hubflange 216 includes a plurality of pockets 226 corresponding to eachclamping fastener 206 and configured to receive an associated springelement 218. In some embodiments, the spring elements 218 are comprisedof a stack of Belleville washers 220.

With specific reference to FIG. 13, the annular clutch disc 212 includesrecessed surfaces 224 on either side of the annular clutch disc 212configured to receive the friction discs 214 and 215 therein. The hub202 includes a plurality of splines 228, and the clamp plate 204includes an aperture 232 configured with corresponding grooves 230 thatslideably mate with the plurality of splines 228. Thus, the clamp plate204 is prevented from rotating relative to the hub 202.

The hub flange 216 includes a plurality of through bores 236 sized toreceive the clamping fasteners 206, and the clamp plate 204 includes aplurality of threaded bores 234 into which the clamping fasteners 206are threaded. The amount of torque transmitted between the drive member200 and the hub 202 is limited by the friction developed between thefriction discs 214 and 215, the hub flange 216, the annular clutch disc212, and the clamp plate 204 as they are clamped together by theclamping fasteners 206 and the spring elements 218 (see FIG. 12).Accordingly, the amount of torque transmitted between the drive member200 and hub 202 can be adjusted by varying the torque of clampingfasteners 206.

With reference to FIG. 14, the hub 202 includes a keyway 238 formed intoaxial bore 222 to receive a suitable key (not shown) in order to key anoutput shaft (not shown) to the hub 202. In addition, the keyway 238 mayintersect a threaded bore 240 for receiving a set screw (not shown) toretain the key in the keyway 238.

As shown in FIG. 15, the robot 100 includes an air flow cooling systemoperatively coupled to the robot controller 146. The air flow coolingsystem includes an arrangement of fan stacks 244, each comprising a pairof intake fans 246. The air flow cooling system provides air to thevarious motors, controllers, and components of the robot in order tocool the components. The air flow cooling system also includes intakevents 248 positioned on the underside of the body 102 (see FIG. 1), andthe fan stacks 244 are in fluid communication with the intake vents 248.The intake fans 246 are configured to draw air into the body 102,thereby pressurizing the body 102, axle housings 126, and the head unit122 (see FIG. 1).

In some embodiments, the air flow cooling system also includestemperature sensors disposed in the head unit, axle housings, and bodyin order to feed temperature information to the robot controller 146which in turn varies the fan speeds in order to control the temperaturetherein. For example, the air flow cooling system can include a bodytemperature sensor 251, an axle housing temperature sensor 253, and ahead unit temperature sensor 255 (see FIG. 16).

With reference to FIG. 16, the head unit 122 is pressurized by intakefans 246 (see FIG. 15) via main arm 114 and forearm 120. The forearm 120and main arm 114 are generally hollow so as to effectively defineducting to/from the body. Head unit 122 also includes a plurality of airvents 250 disposed on the underside of the head unit 122. Thus,pressurized air from the intake fans 246 travels through main arm 114,through the forearm 120, into head unit 122, and then exhausts throughair vents 250. Accordingly, air flows from the intake fans 246 andthrough the head unit 122 to cool the components located in the headunit. By pressurizing the head unit 122, the cooling air flow isprovided to the head unit 122 without mounting a fan in the head unit122, which could interfere with the microphones 133.

As shown in FIG. 17, the air flow cooling system also includes a pair ofaxle fans 254 disposed in the axle housings 126 (see FIG. 1) and areconfigured to exhaust air from the axle housings 126. The robotcontroller 146 (see FIG. 15) is configured to vary the amount of airexhausted from the axle housings 126 by the axle fans 254, therebyregulating the air flow through the head unit 122 and axle housings 126.Similarly, the robot controller 146 can vary the air flow drawn into thebody by intake fans 246. Accordingly, the robot controller 146 can varythe amount of air flow at the head unit 122, the axle housings 126, andin the body 102. The air flow cooling system also includes axle ducts256 positioned between the axle fans 254 and axle vents located adjacentthe drive wheel 104. With further reference to FIG. 18, the axle fan 254draws air from the axle housing 126 and moves it through the axle duct256 which exhausts the air through an exhaust opening located betweenthe axle housing seal 258 and the drive wheel 104.

Remarks

The above description and drawings are illustrative and are not to beconstrued as limiting. Numerous specific details are described toprovide a thorough understanding of the disclosure. However, in someinstances, well-known details are not described in order to avoidobscuring the description. Further, various modifications may be madewithout deviating from the scope of the embodiments. Accordingly, theembodiments are not limited except as by the appended claims.

Reference in this specification to “one embodiment” or “an embodiment”means that a particular feature, structure, or characteristic describedin connection with the embodiment is included in at least one embodimentof the disclosure. The appearances of the phrase “in one embodiment” invarious places in the specification are not necessarily all referring tothe same embodiment, nor are separate or alternative embodimentsmutually exclusive of other embodiments. Moreover, various features aredescribed which may be exhibited by some embodiments and not by others.Similarly, various requirements are described which may be requirementsfor some embodiments but not for other embodiments.

The terms used in this specification generally have their ordinarymeanings in the art, within the context of the disclosure, and in thespecific context where each term is used. It will be appreciated thatthe same thing can be said in more than one way. Consequently,alternative language and synonyms may be used for any one or more of theterms discussed herein, and any special significance is not to be placedupon whether or not a term is elaborated or discussed herein. Synonymsfor some terms are provided. A recital of one or more synonyms does notexclude the use of other synonyms. The use of examples anywhere in thisspecification, including examples of any term discussed herein, isillustrative only and is not intended to further limit the scope andmeaning of the disclosure or of any exemplified term. Likewise, thedisclosure is not limited to various embodiments given in thisspecification. Unless otherwise defined, all technical and scientificterms used herein have the same meaning as commonly understood by one ofordinary skill in the art to which this disclosure pertains. In the caseof conflict, the present document, including definitions, will control.

What is claimed is:
 1. A robot comprising: a body; a pair of groundengaging drivers located at a first end portion of the body, each groundengaging driver coupled to a drive assembly operative to propel therobot along a surface; a wheel located on the body at a second endportion opposite the first; an arm including a proximal end portioncoupled to the body, wherein the arm is rotatable to confront thesurface and lift the wheel away from the surface, thereby standing thebody up onto the pair of ground engaging drivers; and a forearm coupledto a distal end portion of the arm.
 2. The robot of claim 1, furthercomprising an arm drive mechanism disposed in the body and operative torotate the arm relative to the body.
 3. The robot of claim 1, furthercomprising an idler wheel positioned on the distal end portion of thearm.
 4. The robot of claim 1, further comprising a forearm drivemechanism disposed in the body and operative to rotate the forearmrelative to the arm.
 5. A robot comprising: a body; a pair of drivewheels located at a first end portion of the body, each drive wheelcoupled to a drive assembly operative to propel the robot along asurface; a support member located on the body at a second end portionopposite the first and configured to confront the surface when the bodyis in a lowered position; an arm having a distal end portion and aproximal end portion coupled to the body, wherein the arm is rotatableto confront the surface with the distal end portion and lift the supportmember away from the surface, thereby standing the body up onto the pairof drive wheels; a forearm rotatably coupled to the distal end portion;and a head unit disposed on the forearm.
 6. The robot of claim 5,further comprising an arm drive mechanism disposed in the body andoperative to rotate the arm.
 7. The robot of claim 5, further comprisinga forearm drive mechanism disposed in the body and operative to rotatethe forearm relative to the arm.
 8. The robot of claim 7, wherein theforearm is mounted to rotate about a longitudinal axis of the forearm.9. The robot of claim 8, further comprising a head unit drive mechanismconnected to the forearm and operative to rotate the forearm and headunit about the longitudinal axis of the forearm.
 10. The robot of claim5, wherein the support member is a caster wheel.
 11. The robot of claim5, wherein the drive assemblies are configured to balance the body ontwo wheels.
 12. The robot of claim 5, further comprising an idler wheelpositioned on the distal end portion of the arm.
 13. A robot comprising:a body; a pair of drive wheels located at a first end portion of thebody, each drive wheel coupled to a drive assembly operative to propelthe robot along a surface; a third wheel located on the body at a secondend portion opposite the first; an arm having a distal end portion and aproximal end portion coupled to the body; an arm drive mechanismdisposed in the body and operative to rotate the arm to confront thesurface with the distal end portion and lift the third wheel away fromthe surface, thereby standing the body up onto the pair of drive wheels;a forearm rotatably coupled to the distal end portion; and a forearmdrive mechanism disposed in the body and operative to rotate the forearmrelative to the arm.
 14. The robot of claim 13, further comprising ahead unit disposed on the forearm.
 15. The robot of claim 14, furthercomprising a head unit drive mechanism connected to the forearm andoperative to rotate the forearm and head unit about a longitudinal axisof the forearm.
 16. The robot of claim 13, wherein the drive assembliesare configured to balance the body on two wheels.